1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Schedules and runs the model routines.
8 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
10 This program is free software; you can redistribute it and/or modify it under
11 the terms of the GNU General Public License as published by the Free Software
12 Foundation; either version 2 of the License, or (at your option) any later
15 This program is distributed in the hope that it will be useful, but WITHOUT
16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
20 You should have received a copy of the GNU General Public License along with
21 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22 Place - Suite 330, Boston, MA 02111-1307, USA.
24 Further information about the GNU General Public License can also be found on
25 the world wide web at http://www.gnu.org.
27 FUNCTIONAL DESCRIPTION
28 --------------------------------------------------------------------------------
30 This class wraps up the simulation scheduling routines.
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 COMMENTS, REFERENCES, and NOTES
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 # include <simgear/compiler.h>
46 # include STL_IOSTREAM
47 # include STL_ITERATOR
49 # if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
50 # include <iostream.h>
57 #include "FGFDMExec.h"
59 #include "FGAtmosphere.h"
61 #include "FGGroundCallback.h"
62 #include "FGPropulsion.h"
63 #include "FGMassBalance.h"
64 #include "FGGroundReactions.h"
65 #include "FGAerodynamics.h"
66 #include "FGInertial.h"
67 #include "FGAircraft.h"
68 #include "FGPropagate.h"
69 #include "FGAuxiliary.h"
71 #include "FGConfigFile.h"
72 #include "FGInitialCondition.h"
73 #include "FGPropertyManager.h"
77 static const char *IdSrc = "$Id$";
78 static const char *IdHdr = ID_FDMEXEC;
80 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
82 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
84 unsigned int FGFDMExec::FDMctr = 0;
85 FGPropertyManager* FGFDMExec::master=0;
87 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
89 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
91 void checkTied ( FGPropertyManager *node )
93 int N = node->nChildren();
96 for (int i=0; i<N; i++) {
97 if (node->getChild(i)->nChildren() ) {
98 checkTied( (FGPropertyManager*)node->getChild(i) );
99 } else if ( node->getChild(i)->isTied() ) {
100 name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
101 cerr << name << " is tied" << endl;
106 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
109 FGFDMExec::FGFDMExec(FGPropertyManager* root)
140 char* num = getenv("JSBSIM_DEBUG");
141 if (num) debug_lvl = atoi(num); // set debug level
142 } catch (...) { // if error set to 1
146 if (root == 0) master= new FGPropertyManager;
149 instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
154 // this is here to catch errors in binding member functions
155 // to the property tree.
158 } catch ( string msg ) {
159 cout << "Caught error: " << msg << endl;
164 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
166 FGFDMExec::~FGFDMExec()
170 checkTied( instance );
171 } catch ( string msg ) {
172 cout << "Caught error: " << msg << endl;
175 for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
176 SlaveFDMList.clear();
181 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
183 bool FGFDMExec::Allocate(void)
187 Atmosphere = new FGAtmosphere(this);
188 FCS = new FGFCS(this);
189 Propulsion = new FGPropulsion(this);
190 MassBalance = new FGMassBalance(this);
191 Aerodynamics = new FGAerodynamics (this);
192 Inertial = new FGInertial(this);
193 GroundReactions = new FGGroundReactions(this);
194 Aircraft = new FGAircraft(this);
195 GroundCallback = new FGGroundCallback();
196 Propagate = new FGPropagate(this);
197 Auxiliary = new FGAuxiliary(this);
198 Output = new FGOutput(this);
200 State = new FGState(this); // This must be done here, as the FGState
201 // class needs valid pointers to the above
204 // Initialize models so they can communicate with each other
206 if (!Atmosphere->InitModel()) {
207 cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
209 if (!FCS->InitModel()) {
210 cerr << fgred << "FCS model init failed" << fgdef << endl;
212 if (!Propulsion->InitModel()) {
213 cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
215 if (!MassBalance->InitModel()) {
216 cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
218 if (!Aerodynamics->InitModel()) {
219 cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
221 if (!Inertial->InitModel()) {
222 cerr << fgred << "FGInertial model init failed" << fgdef << endl;
224 if (!GroundReactions->InitModel()) {
225 cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
227 if (!Aircraft->InitModel()) {
228 cerr << fgred << "Aircraft model init failed" << fgdef << endl;
230 if (!Propagate->InitModel()) {
231 cerr << fgred << "Propagate model init failed" << fgdef << endl;
233 if (!Auxiliary->InitModel()) {
234 cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
236 if (!Output->InitModel()) {
237 cerr << fgred << "Output model init failed" << fgdef << endl;
240 if (Error > 0) result = false;
242 IC = new FGInitialCondition(this);
244 // Schedule a model. The second arg (the integer) is the pass number. For
245 // instance, the atmosphere model gets executed every fifth pass it is called
246 // by the executive. Everything else here gets executed each pass.
247 // IC and Trim objects are NOT scheduled.
249 Schedule(Atmosphere, 1);
251 Schedule(Propulsion, 1);
252 Schedule(MassBalance, 1);
253 Schedule(Aerodynamics, 1);
254 Schedule(Inertial, 1);
255 Schedule(GroundReactions, 1);
256 Schedule(Aircraft, 1);
257 Schedule(Propagate, 1);
258 Schedule(Auxiliary, 1);
266 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
268 bool FGFDMExec::DeAllocate(void)
276 delete GroundReactions;
286 delete GroundCallback;
308 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
310 int FGFDMExec::Schedule(FGModel* model, int rate)
312 FGModel* model_iterator;
314 model_iterator = FirstModel;
316 if (model_iterator == 0L) { // this is the first model
319 FirstModel->NextModel = 0L;
320 FirstModel->SetRate(rate);
322 } else { // subsequent model
324 while (model_iterator->NextModel != 0L) {
325 model_iterator = model_iterator->NextModel;
327 model_iterator->NextModel = model;
328 model_iterator->NextModel->SetRate(rate);
335 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
337 bool FGFDMExec::Run(void)
339 FGModel* model_iterator;
341 if (frozen) return true;
343 model_iterator = FirstModel;
344 if (model_iterator == 0L) return false;
348 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
349 // SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM
350 // SlaveFDMList[i]->exec->Run();
353 while (model_iterator != 0L) {
354 model_iterator->Run();
355 model_iterator = model_iterator->NextModel;
363 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
365 bool FGFDMExec::RunIC(void)
368 State->Initialize(IC);
375 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
377 void FGFDMExec::SetGroundCallback(FGGroundCallback* p) {
379 delete GroundCallback;
383 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
385 vector <string> FGFDMExec::EnumerateFDMs(void)
387 vector <string> FDMList;
389 FDMList.push_back(Aircraft->GetAircraftName());
391 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
392 FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
398 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
400 bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model,
404 FGFDMExec::AircraftPath = AircraftPath;
405 FGFDMExec::EnginePath = EnginePath;
407 return LoadModel(model, addModelToPath);
410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
413 bool FGFDMExec::LoadModel(string model, bool addModelToPath)
418 string aircraftCfgFileName;
420 if( AircraftPath.empty() || EnginePath.empty() ) {
421 cerr << "Error: attempted to load aircraft with undefined ";
422 cerr << "aircraft and engine paths" << endl;
426 aircraftCfgFileName = AircraftPath;
428 if (addModelToPath) aircraftCfgFileName += "/" + model;
429 aircraftCfgFileName += "/" + model + ".xml";
431 if (addModelToPath) aircraftCfgFileName += ";" + model;
432 aircraftCfgFileName += ";" + model + ".xml";
435 FGConfigFile AC_cfg(aircraftCfgFileName);
436 if (!AC_cfg.IsOpen()) return false;
445 if (!ReadPrologue(&AC_cfg)) return false;
447 while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
448 (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
449 if (token == "METRICS") {
450 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
451 if (!ReadMetrics(&AC_cfg)) result = false;
452 } else if (token == "SLAVE") {
453 if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
454 << AC_cfg.GetValue("NAME") << endl;
455 if (!ReadSlave(&AC_cfg)) result = false;
456 } else if (token == "AERODYNAMICS") {
457 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
458 if (!ReadAerodynamics(&AC_cfg)) result = false;
459 } else if (token == "UNDERCARRIAGE") {
460 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
461 if (!ReadUndercarriage(&AC_cfg)) result = false;
462 } else if (token == "PROPULSION") {
463 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
464 if (!ReadPropulsion(&AC_cfg)) result = false;
465 } else if (token == "FLIGHT_CONTROL") {
466 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
467 if (!ReadFlightControls(&AC_cfg)) result = false;
468 } else if (token == "AUTOPILOT") {
469 if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
470 if (!ReadFlightControls(&AC_cfg)) result = false;
471 } else if (token == "OUTPUT") {
472 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
473 if (!ReadOutput(&AC_cfg)) result = false;
482 << " FGFDMExec: Failed to load aircraft and/or engine model"
489 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
491 bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
493 string token = AC_cfg->GetValue();
497 AircraftName = AC_cfg->GetValue("NAME");
498 Aircraft->SetAircraftName(AircraftName);
500 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
501 << underoff << ": " << highint << AircraftName << normint << endl;
502 scratch = AC_cfg->GetValue("VERSION").c_str();
504 CFGVersion = AC_cfg->GetValue("VERSION");
505 Release = AC_cfg->GetValue("RELEASE");
508 cout << " Version: " << highint << CFGVersion
510 if (CFGVersion != needed_cfg_version) {
511 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
512 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
513 cerr << "Current version needed is: " << needed_cfg_version << endl;
514 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
518 if (Release == "ALPHA" && debug_lvl > 0) {
520 system("banner ALPHA");
523 << highint << "This aircraft model is an " << fgred << Release
524 << reset << highint << " release!!!" << endl << endl << reset
525 << "This aircraft model may not even properly load, and probably"
526 << " will not fly as expected." << endl << endl
527 << fgred << highint << "Use this model for development purposes ONLY!!!"
528 << normint << reset << endl << endl;
529 } else if (Release == "BETA" && debug_lvl > 0) {
531 system("banner BETA");
534 << highint << "This aircraft model is a " << fgred << Release
535 << reset << highint << " release!!!" << endl << endl << reset
536 << "This aircraft model probably will not fly as expected." << endl << endl
537 << fgblue << highint << "Use this model for development purposes ONLY!!!"
538 << normint << reset << endl << endl;
544 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
546 bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
548 // Add a new slaveData object to the slave FDM list
549 // Populate that slaveData element with a new FDMExec object
550 // Set the IsSlave flag for that FDMExec object
551 // Get the aircraft name
552 // set debug level to print out no additional data for slave objects
553 // Load the model given the aircraft name
554 // reset debug level to prior setting
556 int saved_debug_lvl = debug_lvl;
559 SlaveFDMList.push_back(new slaveData);
560 SlaveFDMList.back()->exec = new FGFDMExec();
561 SlaveFDMList.back()->exec->SetSlave();
563 string AircraftName = AC_cfg->GetValue("FILE");
565 debug_lvl = 0; // turn off debug output for slave vehicle
567 SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
568 SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
569 SlaveFDMList.back()->exec->LoadModel(AircraftName);
570 debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
572 AC_cfg->GetNextConfigLine();
573 while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
575 if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
576 else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
577 else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
578 else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
579 else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
580 else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
581 else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
585 cout << " X = " << SlaveFDMList.back()->x << endl;
586 cout << " Y = " << SlaveFDMList.back()->y << endl;
587 cout << " Z = " << SlaveFDMList.back()->z << endl;
588 cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
589 cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
590 cout << " Roll = " << SlaveFDMList.back()->roll << endl;
596 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
598 bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
600 if (!Propulsion->Load(AC_cfg)) {
601 cerr << " Propulsion not successfully loaded" << endl;
607 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
609 bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
611 if (!FCS->Load(AC_cfg)) {
612 cerr << " Flight Controls not successfully loaded" << endl;
618 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
620 bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
622 if (!Aerodynamics->Load(AC_cfg)) {
623 cerr << " Aerodynamics not successfully loaded" << endl;
629 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
631 bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
633 if (!GroundReactions->Load(AC_cfg)) {
634 cerr << " Ground Reactions not successfully loaded" << endl;
640 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
642 bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
644 if (!Aircraft->Load(AC_cfg)) {
645 cerr << " Aircraft metrics not successfully loaded" << endl;
651 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
653 bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
655 if (!Output->Load(AC_cfg)) {
656 cerr << " Output not successfully loaded" << endl;
662 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
664 FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
668 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
670 FGTrim* FGFDMExec::GetTrim(void) {
672 Trim = new FGTrim(this,tNone);
676 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
677 // The bitmasked value choices are as follows:
678 // unset: In this case (the default) JSBSim would only print
679 // out the normally expected messages, essentially echoing
680 // the config files as they are read. If the environment
681 // variable is not set, debug_lvl is set to 1 internally
682 // 0: This requests JSBSim not to output any messages
684 // 1: This value explicity requests the normal JSBSim
686 // 2: This value asks for a message to be printed out when
687 // a class is instantiated
688 // 4: When this value is set, a message is displayed when a
689 // FGModel object executes its Run() method
690 // 8: When this value is set, various runtime state variables
691 // are printed out periodically
692 // 16: When set various parameters are sanity checked and
693 // a message is printed out when they go out of bounds
695 void FGFDMExec::Debug(int from)
697 if (debug_lvl <= 0) return;
699 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
700 if (from == 0) { // Constructor
701 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
702 << JSBSim_version << underoff << normint << endl;
703 cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
704 cout << normint << "JSBSim startup beginning ...\n\n";
705 } else if (from == 3) {
706 cout << "\n\nJSBSim startup complete\n\n";
709 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
710 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
711 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
713 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
715 cout << "================== Frame: " << Frame << " Time: "
716 << State->Getsim_time() << endl;
719 if (debug_lvl & 8 ) { // Runtime state variables
721 if (debug_lvl & 16) { // Sanity checking
723 if (debug_lvl & 64) {
724 if (from == 0) { // Constructor
725 cout << IdSrc << endl;
726 cout << IdHdr << endl;